<HTML> 
<HEAD> 
	<TITLE>3rd Party ROBOTC Drivers</TITLE> 
<link href="tabs.css" rel="stylesheet" type="text/css"/> 
<link href="doxygen.css" rel="stylesheet" type="text/css"/> 
</HEAD> 
 
<BODY bgcolor="#ffffff" link="#000000" vlink="#000000"> 
<table width="100%" bgcolor="navy" cellspacing=0 cellpadding=1 border=0> 
<tr><td><table width="100%" bgcolor="#EEEEDD" cellspacing=0 cellpadding=3 border=0> 
<tr> 
    <td width="33%" align="left"> <img src="images/LOGO_NXT.gif" width=266 height=44 border="0" alt="Mindstorms"></td> 
    <td><b><font size="+3" color="navy">3rd Party ROBOTC Drivers</font></b></td> 
    <td align="right"> <img src="images/logo.png" width=44 height=44 border="0" alt="RobotC"></td>     
</tr> 
  <tr bgcolor="#cccc99" align="right"> 
          <td colspan=3> <font face="arial" size="-1"> [<a href=main.html>Home</a>] [<a target=_top href="https://sourceforge.net/projects/rdpartyrobotcdr/">Download</a>] [<a target=_top href="http://apps.sourceforge.net/mantisbt/rdpartyrobotcdr/my_view_page.php">Submit a bug/suggestion</a>]  [<a target=_top href="http://www.robotc.net/forums/">ROBOTC Forums</a>] [<a target=_top href="http://botbench.com">Blog</a>] [<a target=_top href="http://sourceforge.net/donate/index.php?group_id=257238">Support this project</a>]</font> </td> 
</tr> 
</table></td></tr> 
</table> 
<!-- Generated by Doxygen 1.7.2 -->
<div class="header">
  <div class="headertitle">
<h1>mindensors-servo.h</h1>  </div>
</div>
<div class="contents">
<a href="mindensors-servo_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup nxtservo Servo Controller</span>
<a name="l00004"></a>00004 <span class="comment"> * Servo Controller</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindensors-servo.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef __NXTSERVO_H__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define __NXTSERVO_H__</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="comment">/** \file mindensors-servo.h</span>
<a name="l00015"></a>00015 <span class="comment"> * \brief Mindsensors NXTServo Sensor Driver</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * mindensors-servo.h provides an API for the Mindsensors NXTServo Sensor</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> * Changelog:</span>
<a name="l00020"></a>00020 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00021"></a>00021 <span class="comment"> *</span>
<a name="l00022"></a>00022 <span class="comment"> * Credits:</span>
<a name="l00023"></a>00023 <span class="comment"> * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.</span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00026"></a>00026 <span class="comment"> *</span>
<a name="l00027"></a>00027 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00028"></a>00028 <span class="comment"></span>
<a name="l00029"></a>00029 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00030"></a>00030 <span class="comment"> * \date 30 September 2009</span>
<a name="l00031"></a>00031 <span class="comment"> * \version 0.1</span>
<a name="l00032"></a>00032 <span class="comment"> * \example mindensors-servo-test1.c</span>
<a name="l00033"></a>00033 <span class="comment"> */</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="preprocessor">#pragma systemFile</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#endif</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span>
<a name="l00041"></a><a class="code" href="group__nxtservo.html#gaa3ad0a572159cc7e6f1a45cd6481dd75">00041</a> <span class="preprocessor">#define NXTSERVO_I2C_ADDR     0xB0      </span><span class="comment">/*!&lt; NXT Servo I2C device address */</span>
<a name="l00042"></a>00042 
<a name="l00043"></a>00043 <span class="comment">// Command register, can be written for commands and read for battery voltage level</span>
<a name="l00044"></a><a class="code" href="group__nxtservo.html#gadca1ac4d5a83bd4101e9dd2143ca7648">00044</a> <span class="preprocessor">#define NXTSERVO_CMD          0x41      </span><span class="comment">/*!&lt; Servo command register</span>
<a name="l00045"></a>00045 <span class="comment">*/</span>
<a name="l00046"></a>00046 <span class="comment">// Position registers, can be read and written</span>
<a name="l00047"></a><a class="code" href="group__nxtservo.html#ga1d875258222194e4fac931261442bfc7">00047</a> <span class="preprocessor">#define NXTSERVO_POS_CHAN1    0x42      </span><span class="comment">/*!&lt; Servo channel 1 position (low byte) */</span>
<a name="l00048"></a><a class="code" href="group__nxtservo.html#gabdeb7b6e2d2d065fcfadd977981637f0">00048</a> <span class="preprocessor">#define NXTSERVO_POS_CHAN2    0x44      </span><span class="comment">/*!&lt; Servo channel 2 position (low byte) */</span>
<a name="l00049"></a><a class="code" href="group__nxtservo.html#ga5edfff9268f227b3782dd212c64e20e3">00049</a> <span class="preprocessor">#define NXTSERVO_POS_CHAN3    0x46      </span><span class="comment">/*!&lt; Servo channel 3 position (low byte) */</span>
<a name="l00050"></a><a class="code" href="group__nxtservo.html#ga49e08ed3cd27972c3c776b5281a6e9d9">00050</a> <span class="preprocessor">#define NXTSERVO_POS_CHAN4    0x48      </span><span class="comment">/*!&lt; Servo channel 4 position (low byte) */</span>
<a name="l00051"></a><a class="code" href="group__nxtservo.html#ga3a405fcdc1625be98a53f7d6abc05020">00051</a> <span class="preprocessor">#define NXTSERVO_POS_CHAN5    0x4A      </span><span class="comment">/*!&lt; Servo channel 5 position (low byte) */</span>
<a name="l00052"></a><a class="code" href="group__nxtservo.html#ga00945d0f5d54efe987641da12c2cce20">00052</a> <span class="preprocessor">#define NXTSERVO_POS_CHAN6    0x4C      </span><span class="comment">/*!&lt; Servo channel 6 position (low byte) */</span>
<a name="l00053"></a><a class="code" href="group__nxtservo.html#ga36b103de68a1b4fee7ef5dd5b36a9130">00053</a> <span class="preprocessor">#define NXTSERVO_POS_CHAN7    0x4E      </span><span class="comment">/*!&lt; Servo channel 7 position (low byte) */</span>
<a name="l00054"></a><a class="code" href="group__nxtservo.html#ga3b278b94470b5af034da4382dcd9fbb0">00054</a> <span class="preprocessor">#define NXTSERVO_POS_CHAN8    0x50      </span><span class="comment">/*!&lt; Servo channel 8 position (low byte) */</span>
<a name="l00055"></a>00055 
<a name="l00056"></a>00056 <span class="comment">// Speed registers, can be read and written</span>
<a name="l00057"></a><a class="code" href="group__nxtservo.html#ga0caa433103ee2b31b07c9e920445344b">00057</a> <span class="preprocessor">#define NXTSERVO_SPEED_CHAN1  0x52      </span><span class="comment">/*!&lt; Servo channel 1 speed */</span>
<a name="l00058"></a><a class="code" href="group__nxtservo.html#ga6561e1f44f1de395050c88c009dc9e0c">00058</a> <span class="preprocessor">#define NXTSERVO_SPEED_CHAN2  0x53      </span><span class="comment">/*!&lt; Servo channel 2 speed */</span>
<a name="l00059"></a><a class="code" href="group__nxtservo.html#gae42bcbefe52da61391cacce9082fed56">00059</a> <span class="preprocessor">#define NXTSERVO_SPEED_CHAN3  0x54      </span><span class="comment">/*!&lt; Servo channel 3 speed */</span>
<a name="l00060"></a><a class="code" href="group__nxtservo.html#gae613c60e56386b114ebb25cb7bf014f6">00060</a> <span class="preprocessor">#define NXTSERVO_SPEED_CHAN4  0x55      </span><span class="comment">/*!&lt; Servo channel 4 speed */</span>
<a name="l00061"></a><a class="code" href="group__nxtservo.html#ga85aceb1fbd5bb1a14ef6eddd334a6e99">00061</a> <span class="preprocessor">#define NXTSERVO_SPEED_CHAN5  0x56      </span><span class="comment">/*!&lt; Servo channel 5 speed */</span>
<a name="l00062"></a><a class="code" href="group__nxtservo.html#ga1a5daefc36f4737b1e36940236b51ea4">00062</a> <span class="preprocessor">#define NXTSERVO_SPEED_CHAN6  0x57      </span><span class="comment">/*!&lt; Servo channel 6 speed */</span>
<a name="l00063"></a><a class="code" href="group__nxtservo.html#gad1fb92371f677de5bdfdd29fd0786093">00063</a> <span class="preprocessor">#define NXTSERVO_SPEED_CHAN7  0x58      </span><span class="comment">/*!&lt; Servo channel 7 speed */</span>
<a name="l00064"></a><a class="code" href="group__nxtservo.html#gaf1492acd02c78b9d5320b8c912e9b313">00064</a> <span class="preprocessor">#define NXTSERVO_SPEED_CHAN8  0x59      </span><span class="comment">/*!&lt; Servo channel 8 speed */</span>
<a name="l00065"></a>00065 
<a name="l00066"></a>00066 <span class="comment">// Quick position register, can only be written</span>
<a name="l00067"></a><a class="code" href="group__nxtservo.html#gab962baea9fa4b0062ca99d01aaeed582">00067</a> <span class="preprocessor">#define NXTSERVO_QPOS_CHAN1   0x42      </span><span class="comment">/*!&lt; Servo channel 1 quick position */</span>
<a name="l00068"></a><a class="code" href="group__nxtservo.html#gaeec52f7d7d0ccf28a4432279622844e1">00068</a> <span class="preprocessor">#define NXTSERVO_QPOS_CHAN2   0x44      </span><span class="comment">/*!&lt; Servo channel 2 quick position */</span>
<a name="l00069"></a><a class="code" href="group__nxtservo.html#ga0bb85dcf8b145c4da20b0dd7e6b47f23">00069</a> <span class="preprocessor">#define NXTSERVO_QPOS_CHAN3   0x46      </span><span class="comment">/*!&lt; Servo channel 3 quick position */</span>
<a name="l00070"></a><a class="code" href="group__nxtservo.html#ga42b5d74bd3d33f585de7a06062e4b267">00070</a> <span class="preprocessor">#define NXTSERVO_QPOS_CHAN4   0x48      </span><span class="comment">/*!&lt; Servo channel 4 quick position */</span>
<a name="l00071"></a><a class="code" href="group__nxtservo.html#gab23227fe37944a5842f816d5f5cbb945">00071</a> <span class="preprocessor">#define NXTSERVO_QPOS_CHAN5   0x4A      </span><span class="comment">/*!&lt; Servo channel 5 quick position */</span>
<a name="l00072"></a><a class="code" href="group__nxtservo.html#ga46aa181fc7942b066730cf9d65d90c8d">00072</a> <span class="preprocessor">#define NXTSERVO_QPOS_CHAN6   0x4C      </span><span class="comment">/*!&lt; Servo channel 6 quick position */</span>
<a name="l00073"></a><a class="code" href="group__nxtservo.html#ga9b9e202f205efa7a333029aa4842d8b1">00073</a> <span class="preprocessor">#define NXTSERVO_QPOS_CHAN7   0x4E      </span><span class="comment">/*!&lt; Servo channel 7 quick position */</span>
<a name="l00074"></a><a class="code" href="group__nxtservo.html#gaf758fa51a3172f50762255bc4fb78ebe">00074</a> <span class="preprocessor">#define NXTSERVO_QPOS_CHAN8   0x50      </span><span class="comment">/*!&lt; Servo channel 8 quick position */</span>
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment">/*! Some other defines. */</span>
<a name="l00077"></a><a class="code" href="group__nxtservo.html#gaf05a970059dc753cf11400354acedce5">00077</a> <span class="preprocessor">#define NXTSERVO_MIN_POS      500       </span><span class="comment">/*!&lt; Servo minimum pulse width in uS */</span>
<a name="l00078"></a><a class="code" href="group__nxtservo.html#ga08dd1e0f9fced9cc4e2e42f35a7586b4">00078</a> <span class="preprocessor">#define NXTSERVO_MAX_POS     2500       </span><span class="comment">/*!&lt; Servo maximum pulse width in uS */</span>
<a name="l00079"></a><a class="code" href="group__nxtservo.html#ga6d55ab9012dc2e742c5c5e02732b11c2">00079</a> <span class="preprocessor">#define NXTSERVO_MID_POS     1500       </span><span class="comment">/*!&lt; Servo centered pulse width in uS */</span>
<a name="l00080"></a>00080 
<a name="l00081"></a>00081 <span class="comment">/*</span>
<a name="l00082"></a>00082 <span class="comment">&lt;function prototypes&gt;</span>
<a name="l00083"></a>00083 <span class="comment">*/</span>
<a name="l00084"></a>00084 <span class="keywordtype">bool</span> <a class="code" href="group__nxtservo.html#ga298c508e1bc26f8970704d54583a1f3b">NXTServoSetSpeed</a>(tSensors link, ubyte servochan, ubyte speed, ubyte address);
<a name="l00085"></a>00085 <span class="keywordtype">bool</span> <a class="code" href="group__nxtservo.html#ga4f47c2587c362e0a007681a5650f2a50">NXTServoSetPos</a>(tSensors link, ubyte servochan, <span class="keywordtype">int</span> position, ubyte speed, ubyte address = <a class="code" href="group__nxtservo.html#gaa3ad0a572159cc7e6f1a45cd6481dd75">NXTSERVO_I2C_ADDR</a>);
<a name="l00086"></a>00086 <span class="keywordtype">bool</span> <a class="code" href="group__nxtservo.html#gab2e8092d07b321cabe5fa024b2650b19">NXTServoQSetPos</a>(tSensors link, ubyte servochan, ubyte position, byte speed, ubyte address = <a class="code" href="group__nxtservo.html#gaa3ad0a572159cc7e6f1a45cd6481dd75">NXTSERVO_I2C_ADDR</a>);
<a name="l00087"></a>00087 <span class="keywordtype">int</span> <a class="code" href="group__nxtservo.html#gac257265cd8511d4db73e14bec91a9463">NXTServoReadVoltage</a>(tSensors link, ubyte address = <a class="code" href="group__nxtservo.html#gaa3ad0a572159cc7e6f1a45cd6481dd75">NXTSERVO_I2C_ADDR</a>);
<a name="l00088"></a>00088 
<a name="l00089"></a><a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">00089</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>;         <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00090"></a><a class="code" href="group__nxtservo.html#ga8cdf086957500a1b763c4c9537efa0eb">00090</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__nxtservo.html#ga8cdf086957500a1b763c4c9537efa0eb">NXTSERVO_I2CReply</a>;           <span class="comment">/*!&lt; Array to hold I2C reply data */</span>
<a name="l00091"></a>00091 
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment">/**</span>
<a name="l00094"></a>00094 <span class="comment"> * Set the speed register for the specified servo.  This is the amount to increase</span>
<a name="l00095"></a>00095 <span class="comment"> * the current position by every 24ms when the servo position is changed.</span>
<a name="l00096"></a>00096 <span class="comment"> *</span>
<a name="l00097"></a>00097 <span class="comment"> * Note: this is an internal function and should not be called directly.</span>
<a name="l00098"></a>00098 <span class="comment"> * @param link the NXTServo port number</span>
<a name="l00099"></a>00099 <span class="comment"> * @param servochan the servo channel to use</span>
<a name="l00100"></a>00100 <span class="comment"> * @param speed the amount to increase the position by every 24ms</span>
<a name="l00101"></a>00101 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0xB0</span>
<a name="l00102"></a>00102 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a><a class="code" href="group__nxtservo.html#ga298c508e1bc26f8970704d54583a1f3b">00104</a> <span class="keywordtype">bool</span> <a class="code" href="group__nxtservo.html#ga298c508e1bc26f8970704d54583a1f3b">NXTServoSetSpeed</a>(tSensors link, ubyte servochan, ubyte speed, ubyte address) {
<a name="l00105"></a>00105   memset(<a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00106"></a>00106   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[0] = 3;
<a name="l00107"></a>00107   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[1] = address;
<a name="l00108"></a>00108   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[2] = <a class="code" href="group__nxtservo.html#ga0caa433103ee2b31b07c9e920445344b">NXTSERVO_SPEED_CHAN1</a> + (servochan - 1);
<a name="l00109"></a>00109   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[3] = speed;
<a name="l00110"></a>00110 
<a name="l00111"></a>00111   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, NXTSERVO_I2CRequest);
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113 
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment">/**</span>
<a name="l00116"></a>00116 <span class="comment"> * Tell the servo to move to the specified position using the specified speed.</span>
<a name="l00117"></a>00117 <span class="comment"> * @param link the NXTServo port number</span>
<a name="l00118"></a>00118 <span class="comment"> * @param servochan the servo channel to use</span>
<a name="l00119"></a>00119 <span class="comment"> * @param position the position to move the servo to</span>
<a name="l00120"></a>00120 <span class="comment"> * @param speed the amount to increase the position by every 24ms</span>
<a name="l00121"></a>00121 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0xB0</span>
<a name="l00122"></a>00122 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a><a class="code" href="group__nxtservo.html#ga4f47c2587c362e0a007681a5650f2a50">00124</a> <span class="keywordtype">bool</span> <a class="code" href="group__nxtservo.html#ga4f47c2587c362e0a007681a5650f2a50">NXTServoSetPos</a>(tSensors link, ubyte servochan, <span class="keywordtype">int</span> position, ubyte speed, ubyte address) {
<a name="l00125"></a>00125   memset(<a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00126"></a>00126   <span class="keywordflow">if</span> (!<a class="code" href="group__nxtservo.html#ga298c508e1bc26f8970704d54583a1f3b">NXTServoSetSpeed</a>(link, servochan, speed, address))
<a name="l00127"></a>00127     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00128"></a>00128 
<a name="l00129"></a>00129   position = <a class="code" href="group__common.html#ga4090c86dbda268a45068c4413fba327d">clip</a>(position, 500, 2500);
<a name="l00130"></a>00130 
<a name="l00131"></a>00131   <span class="comment">// set the position register and tell NXTServo to move the servo</span>
<a name="l00132"></a>00132   memset(<a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00133"></a>00133   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[0] = 4;
<a name="l00134"></a>00134   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[1] = address;
<a name="l00135"></a>00135   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[2] = <a class="code" href="group__nxtservo.html#ga1d875258222194e4fac931261442bfc7">NXTSERVO_POS_CHAN1</a> + ((servochan - 1) * 2);
<a name="l00136"></a>00136   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[3] = position &amp; 0x00FF;
<a name="l00137"></a>00137   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[4] = (position &gt;&gt; 8) &amp; 0x00FF;
<a name="l00138"></a>00138 
<a name="l00139"></a>00139   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>);
<a name="l00140"></a>00140 }
<a name="l00141"></a>00141 
<a name="l00142"></a>00142 
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment">/**</span>
<a name="l00145"></a>00145 <span class="comment"> * Tell the servo to move to the specified position using the specified speed.</span>
<a name="l00146"></a>00146 <span class="comment"> * This uses the Quick Position register which is less accurate.  It only accepts</span>
<a name="l00147"></a>00147 <span class="comment"> * values from 50 to 250</span>
<a name="l00148"></a>00148 <span class="comment"> * @param link the NXTServo port number</span>
<a name="l00149"></a>00149 <span class="comment"> * @param servochan the servo channel to use</span>
<a name="l00150"></a>00150 <span class="comment"> * @param position the position to move the servo to</span>
<a name="l00151"></a>00151 <span class="comment"> * @param speed the amount to increase the position by every 24ms</span>
<a name="l00152"></a>00152 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0xB0</span>
<a name="l00153"></a>00153 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a><a class="code" href="group__nxtservo.html#gab2e8092d07b321cabe5fa024b2650b19">00155</a> <span class="keywordtype">bool</span> <a class="code" href="group__nxtservo.html#gab2e8092d07b321cabe5fa024b2650b19">NXTServoQSetPos</a>(tSensors link, ubyte servochan, ubyte position, byte speed, ubyte address) {
<a name="l00156"></a>00156   memset(<a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00157"></a>00157 
<a name="l00158"></a>00158   position = <a class="code" href="group__common.html#ga4090c86dbda268a45068c4413fba327d">clip</a>(position, 50, 250);
<a name="l00159"></a>00159 
<a name="l00160"></a>00160   <span class="keywordflow">if</span> (!<a class="code" href="group__nxtservo.html#ga298c508e1bc26f8970704d54583a1f3b">NXTServoSetSpeed</a>(link, servochan, speed, address))
<a name="l00161"></a>00161     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00162"></a>00162 
<a name="l00163"></a>00163   <span class="comment">// set the position register and tell NXTServo to move the servo</span>
<a name="l00164"></a>00164 
<a name="l00165"></a>00165   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[0] = 3;
<a name="l00166"></a>00166   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[1] = address;
<a name="l00167"></a>00167   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[2] = <a class="code" href="group__nxtservo.html#gab962baea9fa4b0062ca99d01aaeed582">NXTSERVO_QPOS_CHAN1</a> + (servochan - 1);
<a name="l00168"></a>00168   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[3] = position;
<a name="l00169"></a>00169 
<a name="l00170"></a>00170   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, NXTSERVO_I2CRequest);
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172 
<a name="l00173"></a>00173 <span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment">/**</span>
<a name="l00175"></a>00175 <span class="comment"> * Get the voltage level of the battery pack.</span>
<a name="l00176"></a>00176 <span class="comment"> * @param link the NXTServo port number</span>
<a name="l00177"></a>00177 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0xB0</span>
<a name="l00178"></a>00178 <span class="comment"> * @return the voltage of the battery pack or -1 if an error occurred</span>
<a name="l00179"></a>00179 <span class="comment"> */</span>
<a name="l00180"></a><a class="code" href="group__nxtservo.html#gac257265cd8511d4db73e14bec91a9463">00180</a> <span class="keywordtype">int</span> <a class="code" href="group__nxtservo.html#gac257265cd8511d4db73e14bec91a9463">NXTServoReadVoltage</a>(tSensors link, ubyte address) {
<a name="l00181"></a>00181   <span class="keywordtype">long</span> mvs = 0;
<a name="l00182"></a>00182 
<a name="l00183"></a>00183   memset(<a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00184"></a>00184 
<a name="l00185"></a>00185   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[0] = 2;                 <span class="comment">// Message size</span>
<a name="l00186"></a>00186   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[1] = address;           <span class="comment">// I2C Address</span>
<a name="l00187"></a>00187   <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>[2] = <a class="code" href="group__nxtservo.html#gadca1ac4d5a83bd4101e9dd2143ca7648">NXTSERVO_CMD</a>;      <span class="comment">// Start red sensor value</span>
<a name="l00188"></a>00188 
<a name="l00189"></a>00189   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__nxtservo.html#gad8936160bd23e858a43ffa5e0df771b7">NXTSERVO_I2CRequest</a>, <a class="code" href="group__nxtservo.html#ga8cdf086957500a1b763c4c9537efa0eb">NXTSERVO_I2CReply</a>, 1))
<a name="l00190"></a>00190     <span class="keywordflow">return</span> -1;
<a name="l00191"></a>00191 
<a name="l00192"></a>00192   mvs = ((long)<a class="code" href="group__nxtservo.html#ga8cdf086957500a1b763c4c9537efa0eb">NXTSERVO_I2CReply</a>[0] * 3886) / 100;
<a name="l00193"></a>00193 
<a name="l00194"></a>00194   <span class="keywordflow">return</span> mvs;
<a name="l00195"></a>00195 }
<a name="l00196"></a>00196 
<a name="l00197"></a>00197 <span class="preprocessor">#endif // __NXTSERVO_H__</span>
<a name="l00198"></a>00198 <span class="preprocessor"></span><span class="comment">/*</span>
<a name="l00199"></a>00199 <span class="comment"> * $Id: mindensors-servo.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00200"></a>00200 <span class="comment"> */</span>
<a name="l00201"></a>00201 <span class="comment">/* @} */</span>
<a name="l00202"></a>00202 <span class="comment">/* @} */</span>
</pre></div></div>
</div>
<hr class="footer"/><address class="footer"><small>Generated on Wed Mar 13 2013 19:56:43 for ROBOTC Drivers by&#160;
<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.2 </small></address>
</body>
</html>
